CN104079216A - Driving system of three-phase BLDC (Brushless Direct Current) motor with sensors, and driving method of driving system - Google Patents
Driving system of three-phase BLDC (Brushless Direct Current) motor with sensors, and driving method of driving system Download PDFInfo
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Abstract
The invention discloses a driving system of a three-phase BLDC (Brushless Direct Current) motor with sensors. The driving system is characterized by mainly comprising a reversing processor (1), the three hall sensors (2) arranged near rotor magnet steel of the three-phase BLDC motor, and a three-phase driving circuit (3) connected with a three-phase winding of the three-phase BLDC motor, wherein rotor position signals detected by the three hall sensors (2) are processed by the reversing processor (1) and then transmitted to a control end of the three-phase driving circuit (3). The driving system can overcome the defects that the traditional driving system of the three-phase BLDC motor cannot operate normally when one hall sensor has a fault, and the system cannot drive normally when the two hall sensors have faults, therefore, the driving system is very wide in application scope and convenient to popularize and apply.
Description
Technical field
The present invention relates to a kind of motor driven systems, specifically refer to that a kind of three-phase has transducer BLDC motor driven systems and driving method thereof.
Background technology
At present, utilize Hall element to detect motor rotor position and not only can make the start-up and operation of three phase BLDC (DC brushless motor) there is good robustness, and can also make the speed adjustable range of motor wider.But three phase BLDC must be used 3 Hall elements traditionally, once wherein any one Hall element is out of order, drive system cannot Obtaining Accurate rotor signal, also just cannot work.In actual applications, Hall element is a quite responsive and fragile device, and in application, it has quite strict requirement to service condition and environment.Therefore, how to allow three phase electric machine still can work in the situation that part Hall element damages, this is the problem of being concerned about very much in many application, but people also fail well to address this problem so far.
Summary of the invention
The object of the invention is to overcome current three phase BLDC motor driven systems existing when wherein any one Hall element breaks down, the defect that its whole drive system cannot normally be worked, provide a kind of not only result simple, and can also thoroughly overcome when any one Hall element breaks down, just cannot normally the work three-phase of defect of its whole drive system has transducer BLDC motor driven systems.
Another object of the present invention is to provide the driving method that a kind of above-mentioned three-phase has transducer BLDC motor driven systems.
Object of the present invention is achieved through the following technical solutions: three-phase has transducer BLDC motor driven systems, mainly by commutation processor, be arranged near three Hall elements of three phase BLDC motor rotor magnetic steel, and the three-phase drive circuit being connected with three phase windings of three phase BLDC motor composition, three described detected rotor-position signals of Hall element are delivered to the control end of three-phase drive circuit after commutation processor is processed.
Described three-phase drive circuit is comprised of three groups of identical field effect transistor groups of structure, and every group of field effect transistor group by two mutually the field effect transistor of serial connection form, and the tie point between two field effect transistor in every group of field effect transistor group is connected with one group of winding in three phase windings of three phase BLDC motor.
In view of the damage number of Hall element, concrete driving method of the present invention relates to following four kinds of modes, and when only having a Hall element to damage, its scheme is as follows:
Scheme one: three-phase has the driving method of transducer BLDC motor driven systems, mainly comprises the following steps:
(1) drive system detects the Hall element that whether has damage, has, and problematic Hall element is shielded; No, according to normally there being the type of drive of Hall element to drive;
(2) according to TH-1 starting method, produce rotor electric current, keep this electric current until Hall element produces new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) calculate the time interval Δ t of two new state-change above;
(5) judging whether the Hall element damaging logically should produce state-change in firm Δ t in the past, is according to current electric current distribution state and the signal processing logic under normal condition, to produce new current switching signal; No, first by Δ t time value second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition to produce new current switching signal, then according to current electric current distribution state and the signal processing logic under normal condition, at Δ t, producing afterwards new current switching signal second;
(6) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
Scheme two: three-phase has the driving method of transducer BLDC motor driven systems, mainly comprises the following steps:
(1) drive system detects the Hall element that whether has damage, has, and problematic Hall element is shielded, and the alignment error of Hall element is set to zero; No, according to driven mode, drive;
(2) according to TH-1 starting method, produce rotor electric current, keep this electric current until two Hall elements produce new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) calculate the time interval Δ t of two new state-change above, and according to the alignment error of Hall element, this state-change is compensated in time domain;
(5) judge whether the Hall element damaging logically should produce state-change in firm Δ t in the past, be, according to current electric current distribution state and the signal processing logic under normal condition, produce new current switching signal, and execution step (7); No, perform step (6);
(6) judge whether time interval Δ t is less than speed judgment threshold, be, first detect new state-change and the crossover point signal of back-emf, and with the pattern of noninductive driving, electric current is switched, and then the crossover point signal of utilizing state-change and back-emf calculates the alignment error of Hall element, and record this error; No, by Δ t time value second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition to produce new current switching signal, and then at Δ t, produce afterwards new current switching signal according to current electric current distribution state and the signal processing logic under normal condition second;
(7) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
When having two Hall elements to damage, implementation method of the present invention has following scheme:
Scheme one: three-phase has the driving method of transducer BLDC motor driven systems, mainly comprises the following steps:
(1) drive system is specified problematic Hall element, and it is shielded;
(2) according to TH-2 starting method, produce rotor electric current, keep this electric current until Hall element produces new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) according to current electric current distribution state and the signal processing logic under normal condition, produce new current switching signal;
(5) calculate the time interval Δ t of two new state-change above, and go the time thresholding of 60 ° in new memory more by Δ t/3s time value second;
(6) according to current electric current distribution state and the signal processing logic under normal condition, after 60 °, produce successively first new current switching signal and second current switching signal;
(7) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
Scheme two: three-phase has the driving method of transducer BLDC motor driven systems, mainly comprises the following steps:
(1) drive system detects the Hall element that whether has damage, has, and problematic Hall element is shielded, and the alignment error of Hall element is set to zero; No, according to driven mode, drive. the position signalling error of setting Hall element is zero;
(2) according to TH-2 starting method, produce rotor electric current, keep this electric current until two Hall elements produce new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) error of state-change is compensated in time domain, and produce new current switching signal according to current electric current distribution state and the signal processing logic under normal condition;
(5) calculate the time interval Δ t of two new state-change above, and judge whether this time interval Δ t is less than speed judgment threshold; Be, first detect new state-change and the crossover point signal of back-emf, and with the pattern of noninductive driving, electric current is switched, and then utilize the crossover point signal of state-change and back-emf to calculate the alignment error of Hall element, and record this error; No, with Δ t/3 time second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition after 60 °, to produce successively first new current switching signal and second current switching signal;
(6) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
The present invention compares and has the following advantages and beneficial effect compared with prior art:
(1) hardware configuration of the present invention is comparatively simple, and its Production and application is very convenient.
(2) implementation method of the present invention is not only very safe and reliable, and can also thoroughly overcome the existing defect that system cannot normally be used when wherein any one Hall element breaks down of traditional three phase BLDC motor driven systems.
(3) the present invention can not only overcome in traditional three phase BLDC motor driven systems the defect that when a Hall element breaks down, system cannot normally be moved, the defect that in the time of can also overcoming two Hall elements and break down, system cannot driven, therefore the scope of application is very wide, is easy to be extended and applied.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention in three phase BLDC motor driven systems.
Fig. 2 is the graph of relation between Hall element of the present invention and the back-emf of three phase BLDC motor.
The phase current of three phase BLDC motor and the graph of relation between back-emf when Fig. 3 is optimal drive of the present invention.
Fig. 4 is a flow chart when Hall element damages in the present invention.
Fig. 5 is an another kind of flow chart when Hall element damages in the present invention.
Fig. 6 is flow chart when two Hall elements damage in the present invention.
Fig. 7 is another kind of flow chart when two Hall elements damage in the present invention.
Reference numeral title in above accompanying drawing is respectively:
The 1-processor that commutates, 2-Hall element, 3-three-phase drive circuit.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment 1
Shown in Fig. 1～3, system of the present invention is by the identical Hall element 2 of 1, three structure of processor that commutates, and three-phase drive circuit 3 forms.Wherein, three Hall elements 2 are all arranged near the rotor magnetic steel place of three phase BLDC motor; 3 of three-phase drive circuits are comprised of three groups of identical field effect transistor groups of structure, and every group of field effect transistor group forms by two field effect transistor that are mutually connected in series, and the tie point between two field effect transistor in every group of field effect transistor group is connected with the phase winding in three phase windings of three phase BLDC motor, i.e. corresponding phase windings respectively of three tie points in these three groups of field effect transistor groups.During use, three detected rotor-position signals of Hall element 2 are delivered to the control end of three-phase drive circuit 3 after commutation processor 1 is processed.
During utilization, if the installation site of Hall element 2 is correct, the relation between the position signalling of its generation and the back-emf signal of motor winding should be consistent, as shown in Figure 2.Wherein, commuting angle α can be 0 ° or 30 ° of electrical degrees.Detect after the rotor-position of motor, the winding output current of driver to motor, and the relation of electric current and back-emf simply represents as Fig. 3.In service at motor, once there be Hall element 2 output signals to change, commutation signal (namely have a Hall element 2 can according to the change in location of the rotor signal that changes), commutation processor 1 will be delivered to switch controlling signal according to pre-set logical relation the control end of corresponding power semiconductor, the control end of MOSFET pipe for example, and therefore the electric current of motor winding just changes according to the position of rotor.This current switching pattern makes motor can produce as requested continuous torque, and the efficiency of motor is higher.
Therefore, in drive system of the present invention, the role of Hall element 2 is extremely important, if some in 3 Hall elements 2 can not normally be worked, the switch logic of electric current is just destroyed, and motor also just has no idea normally to move, and even cannot work.
Embodiment 2
As shown in Figure 4, the present embodiment is on based on embodiment 1 basis, the driving implementation method when any one Hall element breaks down, and its concrete steps are as follows:
(1) drive system detects the Hall element that whether has damage, has, and problematic Hall element is shielded; No, according to normally there being the type of drive of Hall element to drive;
(2) according to TH-1 starting method, produce rotor electric current, keep this electric current until Hall element produces new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) calculate the time interval Δ t of two new state-change above;
(5) judging whether the Hall element damaging logically should produce state-change in firm Δ t in the past, is according to current electric current distribution state and the signal processing logic under normal condition, to produce new current switching signal; No, first by Δ t time value second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition to produce new current switching signal, then according to current electric current distribution state and the signal processing logic under normal condition, at Δ t, producing afterwards new current switching signal second;
(6) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
Principle based on identical, the present embodiment gives another driving method when one of them Hall element breaks down, and as shown in Figure 5, detailed process is as follows for its flow process:
(1) drive system detects the Hall element whether there is damage, has, and problematic Hall element is shielded, and the alignment error of Hall element is set to zeroly, no, according to driven mode, drives.The error of setting hall signal is zero;
(2) according to TH-1 starting method, produce rotor electric current, keep this electric current until two Hall elements produce new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) calculate the time interval Δ t of two new state-change above, and according to the alignment error of Hall element, this state-change is compensated in time domain;
(5) judge whether the Hall element damaging logically should produce state-change in firm Δ t in the past, be, according to current electric current distribution state and the signal processing logic under normal condition, produce new current switching signal, and execution step (7); No, perform step (6);
(6) judge whether time interval Δ t is less than speed judgment threshold, be, first detect new state-change and the crossover point signal of back-emf, and with the pattern of noninductive driving, electric current is switched, and then the crossover point signal of utilizing state-change and back-emf calculates the alignment error of Hall element, and record this error; No, by Δ t time value second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition to produce new current switching signal, and then at Δ t, produce afterwards new current switching signal according to current electric current distribution state and the signal processing logic under normal condition second;
(7) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
" TH-1 starting method " described in the present embodiment is that those skilled in the art solve a kind of way that solves electric motor starting proposing when a Hall element breaks down.Its basic principle is, carrys out the electric current of control inputs motor winding according to the logical relation between the signal of two Hall elements and three phase winding back-emfs, make the average torque that motor produces be greater than zero, and the probability that electric current produces breakdown torque is for the highest.
In sum, when a Hall of three phase BLDC motor damages, the present invention uses the method starter motor of TH-1.As shown in the figure, use H here
a, H
band H
crepresent the Hall element corresponding to A phase, B phase and C phase winding.In order to narrate conveniently, suppose three H in Hall element here
bbe impaired, when the differential seat angle of the state-change of Hall element and the back-emf zero cross signal of corresponding windings is 0 ° and 30 ° of electrical degrees, TH-1 can be described below respectively:
Differential seat angle is 0 °:
Relation under this situation between drive current distribution and the signal of Hall element is as shown in the table
In this table, A, B and C represent respectively the forward current of A phase, B phase and C phase winding, and X, Y and Z represent respectively the reverse current of A phase, B phase and C phase winding.If the electric current of certain winding is not mentioned in a state, represent that this winding electric current under this state is zero.Because only have two Hall elements, it can only produce 4 kinds of states.In table, (X=1, C=1) 1/2+ (X=1, B=1) 1/2 represents to use respectively the generation current pulse in turn of (X=1, C=1) and (X=1, B=1) this two states, and every kind of electric current ratio in time domain is 50%.Therefore the implication of (A=1, Z=1) 1/2+ (B=1, Z=1) 1/2 has also just been appreciated that.
Differential seat angle is 30 °:
Relation under this situation between drive current distribution and the signal of Hall element is as shown in the table
Embodiment 3
As shown in Figure 6, the present embodiment is compared with embodiment 2, its difference is: embodiment 1 is the starting method of a Hall element while breaking down, and the present embodiment is the starting method when two Hall elements break down simultaneously, and its concrete steps are as follows:
(1) drive system is specified problematic Hall element, and it is shielded;
(2) according to TH-2 starting method, produce rotor electric current, keep this electric current until Hall element produces new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) according to current electric current distribution state and the signal processing logic under normal condition, produce new current switching signal;
(5) calculate the time interval Δ t of two new state-change above, and go the time thresholding of 60 ° in new memory more by Δ t/3s time value second;
(6) according to current electric current distribution state and the signal processing logic under normal condition, after 60 °, produce successively first new current switching signal and second current switching signal;
(7) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
Principle based on same, the present embodiment has provided another driving method when two Hall elements break down simultaneously, and as shown in Figure 7, concrete steps are its flow process:
(1) drive system detects the Hall element whether there is damage, has, and problematic Hall element is shielded, and the alignment error of Hall element is set to zeroly, no, according to driven mode, drives;
(2) according to TH-2 starting method, produce rotor electric current, keep this electric current until two Hall elements produce new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) error of state-change is compensated in time domain, and produce new current switching signal according to current electric current distribution state and the signal processing logic under normal condition;
(5) calculate the time interval Δ t of two new state-change above, and judge whether this time interval Δ t is less than speed judgment threshold; Be, first detect new state-change and the crossover point signal of back-emf, and with the pattern of noninductive driving, electric current is switched, and then utilize the crossover point signal of state-change and back-emf to calculate the alignment error of Hall element, and record this error; No, with Δ t/3 time second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition after 60 °, to produce successively first new current switching signal and second current switching signal;
(6) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
" TH-2 starting method " described in the present embodiment is that those skilled in the art solve a kind of way that solves electric motor starting proposing when having two Hall elements to break down.Its basic principle is, according to the logical relation between the signal of an only Hall element and three phase winding back-emfs, carry out the electric current of control inputs motor winding, make the average torque that motor produces be greater than zero, and the probability that electric current produces breakdown torque is for the highest.
In sum, when two Halls of three phase BLDC motor damage, the present invention uses the method starter motor of TH-2.In order to narrate conveniently, suppose three H in Hall element here
band H
cimpaired.When the differential seat angle of the signal of Hall element and the ZCP of corresponding windings is 0 ° and 30 ° of electrical degrees, TH-2 can be described below respectively:
Differential seat angle is 0 °.
Relation under this situation between drive current distribution and the signal of Hall element is as shown in the table
Differential seat angle is 30 °:
Relation under this situation between drive current distribution and the signal of Hall element is as shown in the table
As mentioned above, just can well realize the present invention.
Claims (6)
1. three-phase has transducer BLDC motor driven systems, it is characterized in that: mainly by commutation processor (1), be arranged near three Hall elements (2) of three phase BLDC motor rotor magnetic steel, and the three-phase drive circuit (3) being connected with three phase windings of three phase BLDC motor composition, the described detected rotor-position signal of three Hall elements (2) is delivered to the control end of three-phase drive circuit (3) after commutation processor (1) is processed.
2. three-phase according to claim 1 has transducer BLDC motor driven systems, it is characterized in that: described three-phase drive circuit (3) is comprised of three groups of identical field effect transistor groups of structure, and every group of field effect transistor group by two mutually the field effect transistor of serial connection form, and the tie point between two field effect transistor in every group of field effect transistor group is connected with one group of winding in three phase windings of three phase BLDC motor.
3. three-phase has the driving method of transducer BLDC motor driven systems, it is characterized in that, mainly comprises the following steps:
(1) drive system detects the Hall element that whether has damage, has, and problematic Hall element is shielded; No, according to normally there being the type of drive of Hall element to drive;
(2) according to TH-1 starting method, produce rotor electric current, keep this electric current until Hall element produces new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) calculate the time interval Δ t of two new state-change above;
(5) judging whether the Hall element damaging logically should produce state-change in firm Δ t in the past, is according to current electric current distribution state and the signal processing logic under normal condition, to produce new current switching signal; No, first by Δ t time value second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition to produce new current switching signal, then according to current electric current distribution state and the signal processing logic under normal condition, at Δ t, producing afterwards new current switching signal second;
(6) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
4. three-phase has the driving method of transducer BLDC motor driven systems, it is characterized in that, mainly comprises the following steps:
(1) drive system detects the Hall element whether there is damage, has, and problematic Hall element is shielded, and the position signalling error of setting Hall element is set to zero; No, according to driven mode, drive;
(2) according to TH-1 starting method, produce rotor electric current, keep this electric current until two Hall elements produce new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) calculate the time interval Δ t of two new state-change above, and according to the alignment error of Hall element, this state-change is compensated in time domain;
(5) judge whether the Hall element damaging logically should produce state-change in firm Δ t in the past, be, according to current electric current distribution state and the signal processing logic under normal condition, produce new current switching signal, and execution step (7); No, perform step (6);
(6) judge whether time interval Δ t is less than speed judgment threshold, be, first detect new state-change and the crossover point signal of back-emf, and with the pattern of noninductive driving, electric current is switched, and then the crossover point signal of utilizing state-change and back-emf calculates the alignment error of Hall element, and record this error; No, by Δ t time value second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition to produce new current switching signal, and then at Δ t, produce afterwards new current switching signal according to current electric current distribution state and the signal processing logic under normal condition second;
(7) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
5. three-phase has the driving method of transducer BLDC motor driven systems, it is characterized in that, mainly comprises the following steps:
(1) drive system is specified problematic Hall element, and it is shielded;
(2) according to TH-2 starting method, produce rotor electric current, keep this electric current until Hall element produces new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) according to current electric current distribution state and the signal processing logic under normal condition, produce new current switching signal;
(5) calculate the time interval Δ t of two new state-change above, and go the time thresholding of 60 ° in new memory more by Δ t/3 time value second;
(6) according to current electric current distribution state and the signal processing logic under normal condition, after 60 °, produce successively first new current switching signal and second current switching signal;
(7) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (5); No, shut down.
6. three-phase has the driving method of transducer BLDC motor driven systems, it is characterized in that, mainly comprises the following steps:
(1) drive system detects the Hall element that whether has damage, has, and problematic Hall element is shielded, and the alignment error of Hall element is set to zero; No, according to driven mode, drive;
(2) according to TH-2 starting method, produce rotor electric current, keep this electric current until two Hall elements produce new state-change;
(3) judge whether this new state-change is first state-change; To return to step (2); No, perform step (4);
(4) error of state-change is compensated in time domain, and produce new current switching signal according to current electric current distribution state and the signal processing logic under normal condition;
(5) calculate the time interval Δ t of two new state-change above, and judge whether this time interval Δ t is less than speed judgment threshold; Be, first detect new state-change and the crossover point signal of back-emf, and with the pattern of noninductive driving, electric current is switched, and then utilize the crossover point signal of state-change and back-emf to calculate the alignment error of Hall element, and record this error; No, with Δ t/3 time second, go the time thresholding of 60 ° in new memory more, and utilize current electric current distribution state and the signal processing logic under normal condition after 60 °, to produce successively first new current switching signal and second current switching signal;
(6) drive system judges according to the operation control signal of input whether drive system needs to continue operation, is, keeps existing current status, detects next new state-change, and returns to step (4); No, shut down.
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| CN105186456A (en) * | 2015-08-12 | 2015-12-23 | 周海波 | Brushless motor position sensor anomaly detection and protection device and method |
| CN110768591A (en) * | 2019-10-31 | 2020-02-07 | 江苏科技大学 | Switching method and device for double-mode control of brushless direct current motor |
| CN110829950A (en) * | 2019-11-13 | 2020-02-21 | 上海电动工具研究所（集团）有限公司 | Brushless motor position enhancement detection circuit and method for electric tool |
| CN113078854A (en) * | 2019-12-18 | 2021-07-06 | 珠海格力电器股份有限公司 | Motor control method and device and motor |
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| CN104333286A (en) * | 2014-10-23 | 2015-02-04 | 江苏浩峰汽车附件有限公司 | Method for realizing Hall sensor installation position deviation correction based on six pulse algorithm |
| CN105186456A (en) * | 2015-08-12 | 2015-12-23 | 周海波 | Brushless motor position sensor anomaly detection and protection device and method |
| CN110768591A (en) * | 2019-10-31 | 2020-02-07 | 江苏科技大学 | Switching method and device for double-mode control of brushless direct current motor |
| CN110768591B (en) * | 2019-10-31 | 2021-04-23 | 江苏科技大学 | Switching method and device for double-mode control of brushless direct current motor |
| CN110829950A (en) * | 2019-11-13 | 2020-02-21 | 上海电动工具研究所（集团）有限公司 | Brushless motor position enhancement detection circuit and method for electric tool |
| CN113078854A (en) * | 2019-12-18 | 2021-07-06 | 珠海格力电器股份有限公司 | Motor control method and device and motor |
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